Grooming mechanism and wall-climbing robot

Abstract

The embodiment of the application provides a pulling mechanism and a wall climbing robot. The pulling mechanism comprises a grinding disc assembly, a mounting plate assembly and a turnover assembly. The mounting plate assembly is connected with the grinding disc assembly. The grinding disc assembly comprises a grinding disc, a first adjusting assembly and a second adjusting assembly. The first adjusting assembly is used for controlling the grinding disc to move along a vertical direction. The second adjusting assembly is used for controlling the grinding disc to rotate around a first horizontal direction and a second horizontal direction, and the first horizontal direction and the second horizontal direction are both perpendicular to the vertical direction. The turnover assembly is connected with the grinding disc assembly and the mounting plate assembly, and the turnover assembly is used for driving the grinding disc assembly and the mounting plate assembly to rotate around the first horizontal direction so that the grinding disc is close to or far away from a working wall surface. When a wall surface with unevenness is encountered, the first adjusting assembly adjusts the height of the grinding disc, and the second adjusting assembly performs multi-angle rotation on the grinding disc, so that the grinding disc is closely fitted with the working wall surface, the adaptability of the pulling mechanism to a complex wall surface is improved, and the pulling quality is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, and particularly relates to a pulling mechanism of a wall-climbing robot and the wall-climbing robot. BACKGROUND

[0002] In the field of maintenance of large industrial facilities, such as oil tanks, ships, building outer walls and the like, the metal vertical wall surfaces are often exposed to harsh environments, and rusting occurs on the wall surfaces after a long time, so that a protective coating needs to be attached to the wall surfaces. In order to make the rust-proof paint, the anti-corrosion coating and the like better adhere to the wall surfaces to enhance the protection effect, the wall surfaces need to be subjected to a pulling treatment before the coating is attached.

[0003] The existing pulling mechanism has a relatively simple structure, and when the pulling mechanism is carried on a wall-climbing robot to work, the pulling mechanism generally mainly relies on a compression spring to adjust the adhesion of a grinding disc or a pulling disc to a working wall surface. The grinding disc or the pulling disc is difficult to be well adhered to the wall surface, so that the pulling quality is difficult to be guaranteed. SUMMARY

[0004] The embodiment of the present application provides a pulling mechanism and a wall-climbing robot. The first adjusting assembly and the second adjusting assembly are used to enable the grinding disc to flexibly adapt to working wall surfaces of different shapes. When the wall surfaces are uneven, the grinding disc can adjust the height by using the first adjusting assembly and can be rotated at multiple angles by using the second adjusting assembly, so that the grinding disc is closely adhered to the wall surfaces. The adaptability of the pulling mechanism to complex wall surfaces is greatly improved, the pulling work can be stably performed under various wall surface conditions, and the pulling quality is effectively improved.

[0005] The embodiment of the present application provides a pulling mechanism for a wall-climbing robot. The pulling mechanism comprises:

[0006] A grinding disc assembly comprises:

[0007] A grinding disc;

[0008] A first adjusting assembly is installed on the grinding disc. The first adjusting assembly is used to control the grinding disc to move in a vertical direction.

[0009] A second adjusting assembly is installed on the grinding disc. The second adjusting assembly is used to control the grinding disc to rotate around a first horizontal direction and a second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction, and the first horizontal direction and the second horizontal direction are both perpendicular to the vertical direction.

[0010] An installation plate assembly is connected to the grinding disc assembly.

[0011] A turnover assembly is connected to the grinding disc assembly and the installation plate assembly. The turnover assembly is used to drive the grinding disc assembly and the installation plate assembly to rotate around the first horizontal direction so that the grinding disc is close to or away from a working wall surface.

[0012] In some embodiments, the second adjusting assembly comprises:

[0013] a first rotating shaft connected with the grinding disc, an axis direction of the first rotating shaft being parallel to the first horizontal direction;

[0014] a second rotating shaft connected perpendicularly with the first rotating shaft, an axis direction of the second rotating shaft being parallel to the second horizontal direction, the grinding disc being capable of rotating around the axis direction of the first rotating shaft and the axis direction of the second rotating shaft.

[0015] In some embodiments, the overturning assembly comprises:

[0016] a mounting base connected with the walking mechanism of the wall-climbing robot;

[0017] a push rod rotationally connected with the mounting base via a rotating shaft, the push rod being further connected with the mounting plate assembly, the push rod being capable of moving along its own axis direction to drive the mounting plate assembly to rotate around the first horizontal direction;

[0018] a support, one end of the support being connected with the mounting base, the grinding disc assembly being rotationally connected with the other end of the support.

[0019] In some embodiments, the grinding disc assembly comprises:

[0020] a mounting rack mounted on the grinding disc and connected with the second adjusting assembly, a side of the mounting rack away from the grinding disc being used for mounting the first adjusting assembly;

[0021] a connecting rod connected with the mounting rack and rotationally connected with the support, so that the grinding disc is capable of rotating around an axis of the connecting rod, the axis direction of the connecting rod being parallel to the first horizontal direction.

[0022] In some embodiments, the number of the grinding disc assemblies is plural, the plural grinding disc assemblies being arranged at intervals and connected with the mounting plate assembly, the support being rotationally connected with the connecting rod of at least one of the grinding disc assemblies, the overturning assembly being used for driving the plural grinding disc assemblies to rotate around the first horizontal direction.

[0023] In some embodiments, the mounting plate assembly comprises a body and a double-ear piece arranged on the body, a shoulder pin shaft being arranged on the push rod, the shoulder pin shaft being arranged in a mounting hole of the double-ear piece, the push rod moving along its own axis direction to drive the mounting plate assembly to rotate around the shoulder pin shaft.

[0024] In some embodiments, the body is provided with a relief hole for avoiding the push rod when the mounting plate assembly rotates around the shoulder pin shaft.

[0025] In some embodiments, the mill disc assembly is provided with a pressure sensor connected with the turnover assembly and the mill disc, which is used for detecting the pressure between the mill disc and the working wall surface.

[0026] In some embodiments, the first adjusting assembly comprises:

[0027] a guide rod, one end of which is connected with the side of the mounting frame away from the mill disc, and the other end of which is connected with the mounting plate assembly; and

[0028] a resilient member, which is sleeved on the guide rod in the vertical direction.

[0029] The embodiments of the present application also provide a wall-climbing robot, comprising:

[0030] a walking mechanism;

[0031] the pulling hair mechanism according to any one of the above embodiments, wherein the turnover assembly of the pulling hair mechanism is connected with the walking mechanism.

[0032] In the pulling hair mechanism and the wall-climbing robot provided by the embodiments of the present application, when encountering a wall surface with unevenness, the height of the mill disc can be adjusted by the first adjusting assembly, and the mill disc can be rotated at multiple angles by the second adjusting assembly, so that the mill disc is tightly attached to the working wall surface, which greatly improves the adaptability of the pulling hair mechanism to complex wall surfaces, ensures that the pulling hair operation can be stably performed under various wall surface conditions, and effectively improves the pulling hair quality. The turnover assembly can assist the first adjusting assembly and the second adjusting assembly to adapt the mill disc to complex wall surfaces, and can also control the rotation angle of the mill disc assembly by the turnover assembly, so as to replace the sandpaper or mill disc on the mill disc, thereby improving the quality and efficiency of the pulling hair operation. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 The structure schematic diagram of the wall-climbing robot provided by the embodiments of the present application.

[0035] Figure 2 The structure schematic diagram of the pulling hair mechanism provided by the embodiments of the present application.

[0036] Figure 3 A structural schematic diagram of the mill disc assembly provided in the embodiment of the present application is shown.

[0037] Figure 4 A structural schematic diagram of the mill disc assembly provided in the embodiment of the present application is shown. Figure 3 A structural schematic diagram of the mill disc assembly provided in the embodiment of the present application is shown.

[0038] Figure 5 A scene schematic diagram of the pulling mechanism provided in the embodiment of the present application on the arc-shaped wall surface is shown.

[0039] Figure 6 Another scene schematic diagram of the pulling mechanism provided in the embodiment of the present application on the arc-shaped wall surface is shown.

[0040] Figure 7 A structural schematic diagram of the overturning assembly provided in the embodiment of the present application is shown.

[0041] Figure 8 A structural schematic diagram of the mounting plate assembly provided in the embodiment of the present application is shown.

[0042] Explanation of reference signs:

[0043] wall climbing robot 100, walking mechanism 20;

[0044] pulling mechanism 10, mill disc assembly 11, mill disc 111, first adjusting assembly 112, guide rod 1121, elastic member 1122, second adjusting assembly 113, first rotating shaft 1131, second rotating shaft 1132, mounting frame 114, first connecting plate 1141, second connecting plate 1142, connecting rod 115, pressure sensor 116;

[0045] mounting plate assembly 12, body 121, avoiding hole 1211, double lug 122, mounting hole 1221;

[0046] overturning assembly 13, mounting seat 131, push rod 132, shoulder pin shaft 1321, supporting member 133, first supporting plate 1331, second supporting plate 1332, first long tube 134, second long tube 135, fixing support 136, limiting plate 137, rotating shaft 138. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] Please refer to Figures 1-3 , Figure 1A structural schematic diagram of the wall-climbing robot 100 provided in the embodiments of the present application. Figure 2 A structural schematic diagram of the pulling mechanism 10 provided in the embodiments of the present application. Figure 3 A structural schematic diagram of the grinding disc assembly 11 provided in the embodiments of the present application.

[0049] The wall-climbing robot 100 provided in the embodiments of the present application comprises a walking mechanism 20 and a pulling mechanism 10, and the overturning assembly 13 of the pulling mechanism 10 is connected with the walking mechanism 20.

[0050] The pulling mechanism 10 provided in the embodiments of the present application is used in the wall-climbing robot 100, and the pulling mechanism 10 comprises a grinding disc assembly 11, a mounting plate assembly 12 and an overturning assembly 13. The mounting plate assembly 12 is connected with the grinding disc assembly 11.

[0051] When the wall-climbing robot 100 moves along the working wall surface, the walking mechanism 20 is used for stable adhesion and movement performance, for example, a magnetic type, a vacuum adsorption type or a bionic foot type walking mechanism can be used to adapt to different material wall surfaces. The walking mechanism 20 drives the wall-climbing robot 100 to move on a large-area wall surface, and the overturning assembly 13 can adjust the pulling mechanism 10 to a suitable angle when the wall-climbing robot 100 reaches different areas, so as to avoid the pulling mechanism 10 colliding with wall surface obstacles such as protrusions, while ensuring that the pulling mechanism 10 is closely attached to the wall surface, thereby improving the quality and efficiency of the pulling operation.

[0052] Specifically, the grinding disc assembly 11 comprises a grinding disc 111, a first adjusting assembly 112 and a second adjusting assembly 113. The first adjusting assembly 112 is installed on the grinding disc 111, and the first adjusting assembly 112 is used for controlling the grinding disc 111 to move along the vertical direction Z. The second adjusting assembly 113 is installed on the grinding disc 111, and the second adjusting assembly 113 is used for controlling the grinding disc 111 to rotate around the first horizontal direction X and the second horizontal direction Y. The first horizontal direction X is perpendicular to the second horizontal direction Y, and both the first horizontal direction X and the second horizontal direction Y are perpendicular to the vertical direction Z.

[0053] The overturning assembly 13 is connected with the grinding disc assembly 11 and the mounting plate assembly 12, and the overturning assembly 13 is used for driving the grinding disc assembly 11 and the mounting plate assembly 12 to rotate around the first horizontal direction X so that the grinding disc 111 is close to or away from the working wall surface.

[0054] The mounting plate assembly 12 can be a rectangular or circular or other irregular flat plate structure to facilitate the connection with the grinding disc assembly 11. The mounting plate assembly 12 can be made of light-weight high-strength aluminum alloy material to reduce the overall weight of the pulling mechanism 10 while ensuring the strength. In addition, the mounting plate assembly 12 can be provided with reinforcing ribs to improve the strength and rigidity of the mounting plate assembly 12.

[0055] The mounting plate assembly 12 can be connected with the grinding disc assembly 11 through bolts, pins or other connecting members, ensuring firm connection and facilitating disassembly and maintenance. The mounting plate assembly 12 can be rotationally connected with the corresponding parts of the turnover assembly 13 through a rotating shaft, a hinged seat or other components, so as to realize rotation around the first horizontal direction X.

[0056] The grinding disc 111 is usually made of high-strength wear-resistant alloy material, such as high-chromium cast iron, to ensure that the grinding disc 111 has good wear resistance and impact resistance during the roughening operation. The side of the grinding disc 111 away from the first adjusting assembly 112 is attached with abrasive materials, such as diamond sand, ceramic abrasive and the like. During the operation of the roughening mechanism 10, the rotation of the grinding disc 111 causes the abrasive materials to rub against the working wall surface, cutting and polishing the wall surface, so that the wall surface forms a rough texture, i.e., the roughening work is completed. In addition, the driving of the rotation of the grinding disc 111 can be electric driving or air source driving, etc.

[0057] For different working wall surface processing requirements, the abrasive materials on the surface of the grinding disc 111 can be diamond sand abrasive materials with different coarse particle sizes, for example, for wall surface processing with high precision requirements, fine particle size ceramic abrasive can be used. For wall surface processing with high precision requirements, fine particle size ceramic abrasive is used.

[0058] In some embodiments, the side of the grinding disc 111 away from the first adjusting assembly 112 can be attached with consumables used for roughening, such as sandpaper or abrasive discs, etc. When the sandpaper or abrasive disc is worn to a certain extent, it can be directly and simply replaced, and compared with directly replacing the entire grinding disc 111, only replacing the sandpaper and abrasive disc has lower cost. Of course, for different operation requirements, different consumables can also be directly replaced to better complete the roughening.

[0059] The first adjusting assembly 112 mainly controls the movement of the grinding disc 111 along the vertical direction Z to adjust the contact pressure and position of the grinding disc 111 with the working wall surface. The first adjusting assembly 112 can adaptively adjust the height of the grinding disc 111 according to the condition of the wall surface, ensure that the pressure of the grinding disc 111 at each point with the wall surface is uniform, and make the grinding disc 111 adhere to the wall surface with appropriate pressure to improve the roughening quality.

[0060] The first adjusting assembly 112 can be a spring and guide rod structure, the spring provides a basic pressure in a natural state, and is compressed or stretched to drive the grinding disc 111 to move along the vertical direction Z when encountering protrusions or depressions. The first adjusting assembly 112 can also be an electric push rod structure, the extension and retraction of the electric push rod drives the grinding disc 111 to move along the vertical direction Z. The first adjusting assembly 112 can also be composed of an air pump, an air pipe, an air cylinder and a pressure regulating valve, the air pump generates compressed air which is delivered to the air cylinder through the air pipe, the piston rod of the air cylinder is connected with the grinding disc 111, and the pressure regulating valve can adjust the air pressure in the air cylinder according to the condition of the wall surface, so as to control the extension and retraction of the piston rod to realize the movement of the grinding disc 111 along the vertical direction Z.

[0061] The second adjusting assembly 113 mainly functions to control the rotation of the grinding disc 111 around the first horizontal direction X and the second horizontal direction Y, so that the grinding disc 111 is adapted to the angle and shape of the wall surface, and the quality of the scraping is improved. The second adjusting assembly 113 can be a double-rotation shaft structure, a universal joint structure or a spherical joint, and is not limited herein.

[0062] When the wall surface is curved or uneven, in addition to the adjustment of the grinding disc 111 by the first adjusting assembly 112 and the second adjusting assembly 113, the overturning assembly 13 can also control the rotation of the grinding disc 111 to adapt to the complex wall surface, that is, the overturning assembly 13 can also assist the first adjusting assembly 112 and the second adjusting assembly 113 to adapt the grinding disc 111 to the complex wall surface.

[0063] In addition, the overturning assembly 13 can also drive the mounting plate assembly 12 and the grinding disc assembly 11 to rotate around the first horizontal direction X by a large amplitude, and the rotation angle can be greater than or equal to the rotation angle range of the grinding disc 111 controlled by the second assembly around the first horizontal direction X. When it is necessary to replace the consumables such as sandpaper or grinding disc attached to the grinding disc 111, the overturning assembly 13 can rotate the grinding disc 111 by a large angle to an angle convenient for the user to operate.

[0064] The scraping mechanism 10 provided by the embodiments of the present application is applied to the wall-climbing robot 100, and mainly utilizes the first adjusting assembly 112 and the second adjusting assembly 113 to control the working state of the grinding disc 111. The first adjusting assembly 112 in the grinding disc assembly 11 controls the movement of the grinding disc 111 along the vertical direction Z to adjust the distance between the grinding disc 111 and the wall surface, and the second adjusting assembly 113 allows the grinding disc 111 to rotate around two horizontal directions perpendicular to each other, so that the grinding disc 111 can better adapt to the complex wall surface, such as the large difference formed by the deformation, weld, concave-convex shape and the like of the metal wall surface, and ensure that the grinding disc 111 can scrape the complex wall surface.

[0065] It should be noted that the scraping mechanism 10 provided by the embodiments of the present application can be used for but not limited to the scraping and polishing of the metal wall surface in the shipbuilding, petrochemical, wind power and other industries, and can also be applied to other non-metal wall surfaces.

[0066] In some embodiments, the first adjusting assembly 112 includes a guide rod 1121 and an elastic member 1122. One end of the guide rod 1121 is connected to the side of the mounting frame 114 away from the grinding disc 111, and the other end is connected to the mounting plate assembly 12. The elastic member 1122 is sleeved on the guide rod 1121 along the vertical direction Z.

[0067] The two ends of the guide rod 1121 can be provided with threads, and one end of the guide rod 1121 with the thread is screwed into the threaded hole of the mounting frame 114 during installation. The other end of the guide rod 1121 with the thread is connected to the mounting plate assembly 12. The guide rod 1121 is arranged between the mounting frame 114 and the mounting plate assembly 12 in the vertical direction Z to guide the mounting frame 114, the grinding disc 111 and the elastic member 1122.

[0068] The elastic member 1122 can be a compression spring. The specific stiffness coefficient of the spring is designed according to the weight of the grinding disc 111 and the required pressure adjustment range during the sanding operation. In the initial state, the elastic member 1122 is in a certain pre-compressed state to provide an initial downward pressure for the grinding disc 111.

[0069] It can be understood that when the wall-climbing robot 100 performs the sanding operation on a flat wall surface, the grinding disc 111 is in contact with the working wall surface, and the elastic member 1122 is in the initial pre-compressed state to provide a basic downward pressure for the grinding disc 111, so that the abrasive on the grinding disc 111 can fully contact the working wall surface to perform normal sanding work.

[0070] When the grinding disc 111 moves to a part of the wall surface with a protrusion, such as a protruding weld, the wall surface exerts a force on the grinding disc 111, and the force is transmitted to the mounting frame 114 through the grinding disc 111. The mounting frame 114 moves upward along the guide rod 1121, thereby compressing the elastic member 1122. The degree of compression of the elastic member 1122 changes correspondingly with the height of the protrusion of the wall surface and the size of the force acting on the grinding disc 111. When the grinding disc 111 encounters a recessed area of the wall surface, the force acting on the grinding disc 111 decreases, and the elastic member 1122 gradually recovers from the deformation. The elastic force generated by the recovery of the elastic member 1122 pushes the mounting frame 114 and the grinding disc 111 to move downward, so that the grinding disc 111 can timely press into the recessed area of the working wall surface to maintain contact with the wall surface, thereby ensuring that the recessed area is also effectively sanded.

[0071] Therefore, regardless of whether the wall-climbing robot 100 performs the sanding operation on a flat wall surface, a curved wall surface or an uneven wall surface, the elastic member 1122 can automatically adjust the pressure between the grinding disc 111 and the wall surface according to the actual situation of the different wall surfaces, so as to ensure that the grinding disc 111 is in close contact with the wall surface and achieve high-quality sanding.

[0072] In addition, when the grinding disc 111 encounters a protrusion or other obstacles on the wall surface, the elastic member 1122 can also act as a buffer to absorb part of the impact force, thereby not only protecting the grinding disc 111 and the wall surface and reducing the wear and damage of the two caused by excessive impact force, but also avoiding displacement of the grinding disc 111 caused by the impact, thereby ensuring the continuity and stability of the sanding process.

[0073] The elastic member 1122 can also work in conjunction with a pressure sensor. The elastic member 1122 adjusts the downward pressure of the grinding disc 111 in real time according to the wall surface conditions. The pressure sensor monitors the pressure between the grinding disc 111 and the wall surface in real time and feeds back to the control system of the flip assembly 13. The control system controls the push rod 132 and indirectly adjusts the compression degree of the elastic member 1122 to maintain an appropriate and stable fit between the grinding disc 111 and the wall surface, thereby ensuring the quality of the roughening operation.

[0074] In some embodiments, a bushing is provided on the end of the guide rod 1121 away from the mounting bracket 114. The bushing is sleeved on the guide rod 1121 and contacts the elastic member 1122. The bushing can guide the elastic member 1122 to move in a specific direction during the extension and contraction process, preventing the elastic member 1122 from deflecting or twisting. In addition, the bushing can act as an isolation layer, reducing friction between the elastic member 1122 and other components, thereby extending the service life of the elastic member 1122 and other components.

[0075] See also Figure 4 , Figure 4 for Figure 3 An exploded schematic diagram of the grinding disc assembly 11 is shown. In some embodiments, the second adjustment assembly 113 includes a first rotation axis 1131 and a second rotation axis 1132. The first rotation axis 1131 is connected to the grinding disc 111, and the axis direction of the first rotation axis 1131 is parallel to the first horizontal direction X. The second rotation axis 1132 is perpendicularly connected to the first rotation axis 1131, and the axis direction of the second rotation axis 1132 is parallel to the second horizontal direction Y. The grinding disc 111 can rotate around the axis direction of the first rotation axis 1131 and the axis direction of the second rotation axis 1132.

[0076] Among them, the number of the first rotating shafts 1131 is two, the number of the second rotating shaft 1132 is one, the second rotating shaft 1132 is vertically connected to the two first rotating shafts 1131 at the same time, and the two first rotating shafts 1131 are both connected to the grinding disc 111. The first rotating shaft 1131 cooperates with the second rotating shaft 1132, so that the grinding disc 111 has the ability to flexibly rotate in the first horizontal direction X and the second horizontal direction Y to better fit the wall surface. The coordinated rotation of the first rotating shaft 1131 and the second rotating shaft 1132 enables the grinding disc 111 to flexibly adjust its posture when facing a complex working wall surface (for example, an uneven wall surface with multi-directional concave and convex changes), so as to better fit the wall surface for roughening processing.

[0077] Specifically, on the arc-shaped wall surface, the grinding disc 111 can rotate around the axis direction of the first rotation axis 1131 or the axis direction of the second rotation axis 1132 to adapt to the bending degree of the curved surface in one direction. For example, the grinding disc 111 can rotate a certain angle around the first horizontal direction X to adapt to the curved surface as shown in Figure 5 ; or rotate a certain angle around the second horizontal direction Y to adapt to the curved surface as shown in Figure 6 . Wherein, Figure 5 is a scene diagram of the pulling mechanism 100 provided by the embodiment of the present application on the arc-shaped wall surface, Figure 6 is another scene diagram of the pulling mechanism 100 provided by the embodiment of the present application on the arc-shaped wall surface.

[0078] In addition, the grinding disc 111 can also rotate around the axis direction of the first rotation axis 1131 and the axis direction of the second rotation axis 1132 to adapt to the curved surface, ensuring that the grinding disc 111 closely fits the curved wall surface, allowing the abrasive to uniformly act on every part of the working wall surface, and improving the pulling effect.

[0079] When the grinding disc 111 encounters a protrusion, it can rotate around the axis direction of the first rotation axis 1131 and the axis direction of the second rotation axis 1132 to adjust the angle and smoothly pass over the protrusion, avoiding excessive impact force caused by collision from damaging the grinding disc 111. When the grinding disc 111 encounters a depression, the grinding disc 111 can rotate around the axis direction of the first rotation axis 1131 and the axis direction of the second rotation axis 1132 to penetrate the depression area for pulling processing. The arrangement of the two second rotation axes 1132 increases the adjustment flexibility of the grinding disc 111 in complex terrain, and can fine-tune the posture of the grinding disc 111 from multiple directions, so that the grinding disc 111 can effectively pull the processing of each area of the uneven wall surface.

[0080] Please refer to Figure 7 , Figure 7 is a structure diagram of the overturning assembly 13 provided by the embodiment of the present application. In some embodiments, the overturning assembly 13 can include a mounting seat 131, a push rod 132, and a support 133. The mounting seat 131 is connected with the walking mechanism 20 of the wall climbing robot 100. The push rod 132 is rotationally connected with the mounting seat 131 through a rotating shaft 138, and the push rod 132 is also connected with the mounting plate assembly 12. The push rod 132 can move along its own axis to drive the mounting plate assembly 12 to rotate around the first horizontal direction X. One end of the support 133 is connected with the mounting seat 131, and the grinding disc assembly 11 is rotationally connected with the other end of the support 133.

[0081] When the turnover assembly 13 is working, the mounting seat 131 is mounted on the walking mechanism 20 of the wall-climbing robot 100 to provide stable support for the entire turnover assembly 13 and ensure the stability of the movement of other components. The mounting seat 131 can be made of cast steel, and in some embodiments, reinforcing ribs can be arranged on the mounting seat 131 to improve the strength of the mounting seat 131.

[0082] The push rod 132 can be an electric push rod, and a motor can be arranged inside the push rod 132 to convert the rotary motion of the motor into linear extension and contraction motion of the push rod 132 along its own axis through a screw nut mechanism. When it is necessary to increase the downward pressure of the grinding disc 111 on the working wall surface, the motor is controlled to rotate in the forward direction, and the rotation of the screw rod causes the push rod 132 to elongate. Since the push rod 132 is rotationally connected to the mounting plate assembly 12, the elongation of the push rod 132 drives the mounting plate assembly 12 to rotate downward around the first horizontal direction X, thereby driving the grinding disc assembly 11 to approach the working wall surface and increasing the pressure of the grinding disc 111 on the wall surface. Conversely, if it is necessary to reduce the downward pressure, the motor is controlled to rotate in the reverse direction, and the push rod 132 shortens while pulling the mounting plate assembly 12 to rotate upward around the first horizontal direction X, i.e., moving the grinding disc assembly 11 away from the working wall surface.

[0083] It can be understood that when the grinding disc assembly 11 needs to be turned over by a larger angle in order to replace consumables such as sandpaper or grinding discs on the grinding disc 111, the push rod 132 shortens, driving the mounting plate assembly 12 to rotate upward, and thereby the grinding disc assembly 11 is turned over upward, exposing the consumables on the grinding disc 111 to facilitate the replacement by the operator. In this process, due to the movement resistance of the mounting plate assembly 12 and the connection relationship with the mounting seat 131, the push rod 132 can rotate relative to the mounting seat 131 around the rotation shaft 138 to adjust the posture to ensure the transmission of force.

[0084] The driving mode of the push rod 132 can be hydraulic drive or air source drive in addition to motor drive, which is not limited here, and appropriate driving modes of the push rod can be selected according to different needs.

[0085] The grinding disc assembly 11 can be connected to the turnover assembly 13 through the support 133, one end of the support 133 is stably connected to the mounting seat 131 through welding or bolt connection, etc. to ensure the stability of the support 133, and the other end can be provided with a mounting hole for mounting the grinding disc assembly 11.

[0086] In some embodiments, the support 133 can include oppositely arranged first and second support plates 1331 and 1332, one end of each of the first and second support plates 1331 and 1332 is connected to the mounting seat 131, and the other end of each of the first and second support plates 1331 and 1332 is connected to the grinding disc assembly 11.

[0087] The first support plate 1331 and the second support plate 1332 can be connected by the first long tube 134 and the second long tube 135, the first long tube 134 and the second long tube 135 play a role in strengthening the structural stability of the support 133, and enhancing the rigidity of the whole support 133, which helps to reduce the deformation of the support 133 and the mounting seat 131 when the push rod 132 drives the mounting plate assembly 12 to rotate.

[0088] The axis directions of the first long tube 134 and the second long tube 135 are parallel to the first horizontal direction X, and the first support plate 1331 and the second support plate 1332 can rotate by a certain angle around the axis of the second long tube 135, because there is a certain radial gap between the connection part of the second long tube 135 and the first support plate 1331 and the second support plate 1332, this gap allows the support 133 to rotate around the axis without too much frictional resistance between the second long tube 135, so that it can rotate smoothly by a small angle and adapt to the wall surface change in time.

[0089] The outer side of the part where the first long tube 134 and the second long tube 135 are connected with the first support plate 1331 and the second support plate 1332 can be provided with a fixing ring, the fixing ring is used to fix the first long tube 134 and the second long tube 135, to avoid the first long tube 134 and the second long tube 135 falling off during the movement of the turnover assembly 13.

[0090] In some embodiments, the turnover assembly 13 can further include a fixing support 136 and a limiting plate 137, the limiting plate 137 is arranged between the mounting frame 114 and the fixing support 136, and the end of the fixing support 136 away from the limiting plate 137 is used to connect the first long tube 134 to realize the connection with the support 133. The fixing support 136 and the limiting plate 137 are connected with the walking mechanism 20 of the wall climbing robot 100, to ensure that the turnover assembly 13 is stably connected with the walking mechanism 20 of the wall climbing robot 100. The limiting plate 137 cooperates with the fixing support 136 to limit the movement range of the push rod 132 or other components, to prevent excessive movement and ensure the accuracy and safety of the movement of the turnover assembly 13.

[0091] In some embodiments, the grinding disc assembly 11 includes a mounting frame 114 and a connecting rod 115. The mounting frame 114 is mounted on the grinding disc 111 and connected with the second adjusting assembly 113, and the side of the mounting frame 114 away from the grinding disc 111 is used to install the first adjusting assembly 112. The connecting rod 115 is connected to the mounting frame 114, and the connecting rod 115 is rotationally connected with the support 133, so that the grinding disc 111 can rotate around the axis of the connecting rod 115, and the axis direction of the connecting rod 115 is parallel to the first horizontal direction X.

[0092] The mounting bracket 114 connects the grinding disc 111, the first adjustment assembly 112, and the second adjustment assembly 113, while also providing a mounting support point for the connecting rod 115. The mounting bracket 114 ensures the reliability of the first adjustment assembly 112, the second adjustment member, and the connecting rod 115 during operation, enabling the grinding disc 111 to move in the vertical direction Z under the control of the first adjustment assembly 112, rotate about the first horizontal direction X and the second horizontal direction Y under the action of the second adjustment member, and rotate about its axis under the action of the connecting rod 115. The mounting bracket 114 can be made of a high-strength alloy steel to further enhance the stability of the grinding disc 111, the first adjustment assembly 112, and the connecting rod 115 during operation.

[0093] In some embodiments, the mounting frame 114 may include a first connecting plate 1141 and a second connecting plate 1142 positioned opposite each other, with the distance between the first connecting plate 1141 and the second connecting plate 1142 determined based on the size and operating requirements of the grinding wheel 111. The connecting rod 115 is connected to the first connecting plate 1141 and the second connecting plate 1142, and the second adjusting member 113 is also connected to the first connecting plate 1141 and the second connecting plate 1142. The connecting rod 115, the first connecting plate 1141, the second adjusting member 113, and the second connecting plate 1142 are sequentially connected to form a rectangular shape.

[0094] The two first rotating shafts 1131 and second rotating shafts 1132 in the second adjustment assembly 113 are mounted between the first connecting plate 1141 and the second connecting plate 1142. One of the first rotating shafts 1131 is mounted on the first connecting plate 1141 via a deep groove ball bearing, while the other first rotating shaft 1131 is mounted on the second connecting plate 1142 via a deep groove ball bearing. The axis of the first rotating shaft 1131 is parallel to the first horizontal direction X. The second rotating shaft 1132 is perpendicularly connected to both first rotating shafts 1131, and its axis is parallel to the second horizontal direction Y, thereby enabling the grinding wheel 111 to rotate in two horizontal directions.

[0095] The guide rod 1121 in the first adjustment assembly 112 is connected to the first connecting plate 1141 and the second connecting plate 1142. The guide rod 1121 is processed with an external thread. The guide rod 1121 is connected to the first connecting plate 1141 and the second connecting plate 1142 on the side away from the grinding disc 111 through a thread. The first connecting plate 1141 and the second connecting plate 1142 are processed with internal threaded holes at corresponding positions. When connecting, the guide rod 1121 is screwed into the hole and reinforced with a lock nut.

[0096] The number of the guide rods 1121 can be one, two, three or four, etc., which is not limited here, and the elastic member 1122 corresponds to the guide rod 1121 one by one. Figure 4As shown, the abrasive disc assembly 11 of the pulling mechanism 10 in the embodiment of the present application includes four guide rods 1121 and four elastic members 1122. Two guide rods 1121 are arranged on the first connecting plate 1141 at intervals, two guide rods 1121 are arranged on the second connecting plate 1142 at intervals, and the four guide rods 1121 form a rectangular support structure to provide better support and guiding effect.

[0097] Please refer to Figure 8 , Figure 8 The structure schematic diagram of the mounting plate assembly 12 provided by the embodiment of the present application is shown. In some embodiments, the mounting plate assembly 12 includes a body 121 and a lug 122 arranged on the body 121. The push rod 132 is provided with a shoulder pin shaft 1321, and the shoulder pin shaft 1321 penetrates the mounting hole 1221 of the lug 122. The push rod 132 moves along its own axis to drive the mounting plate assembly 12 to rotate around the shoulder pin shaft 1321.

[0098] The lug 122 is two substantially ear-shaped plate bodies arranged on the body 121. One end of the push rod 132 is rotationally connected to the mounting seat 131 through a rotating shaft 138, and the other end is connected to the mounting plate assembly 12 through the shoulder pin shaft 1321 to drive the push rod 132 to move along its own axis. When it is needed to increase the downward pressure of the abrasive disc 111 on the wall surface, the push rod 132 is elongated to drive the mounting plate assembly 12 to rotate downward around the axis of the shoulder pin shaft 1321 (i.e. the first horizontal direction X), and the abrasive disc assembly 11 is driven to approach the working wall surface. When it is needed to reduce the downward pressure, the push rod 132 is shortened to drive the mounting plate assembly 12 to rotate upward, so that the abrasive disc assembly 11 moves away from the working wall surface. When the abrasive disc 111 needs to be turned over to replace the consumables, the push rod 132 is shortened to drive the mounting plate assembly 12 and the abrasive disc assembly 11 to turn over by a certain angle upward to facilitate the replacement operation.

[0099] The support 133 is fixed on the mounting seat 131 and does not move, and the connecting rod 115 on the abrasive disc 111 is installed in the mounting hole of the support 133. When the mounting plate assembly 12 is driven to move by the push rod 132, the abrasive disc 111 rotates around the connecting rod 115 as the axis to adjust its angle, and cooperates to complete the actions of approaching or moving away from the wall surface, replacing the consumables, etc. In addition, when the wall surface is uneven, the abrasive disc assembly 11 can also adjust the angle and position within a small range through the first adjusting assembly 112 and the second adjusting assembly 113 to ensure good contact with the wall surface and the pulling effect.

[0100] In some embodiments, the number of mill disc assemblies 11 can be multiple, and the multiple mill disc assemblies 11 are spaced apart and connected with the mounting plate assembly 12. The multiple mill disc assemblies 11 are linearly spaced apart on the mounting plate assembly 12, and the spacing between adjacent mill disc assemblies 11 is determined according to the diameter of the mill disc 111 and the actual need of the wall surface roughening operation, so as to avoid interference between the mill discs 111 during operation, and ensure that the multiple mill disc assemblies 11 can cover a larger wall surface area.

[0101] The support 133 is rotationally connected with the connecting rod 115 of the at least one mill disc assembly 11, and the turnover assembly 13 is used to drive the multiple mill disc assemblies 11 to rotate around the first horizontal direction X. When the push rod 132 in the turnover assembly 13 is extended or retracted, the mounting plate assembly 12 is driven to rotate around the shoulder pin shaft 1321. Since the multiple mill disc assemblies 11 are connected with the mounting plate assembly 12, the rotation of the mounting plate assembly 12 will synchronously drive the multiple mill disc assemblies 11 to rotate around the first horizontal direction X. When the push rod 132 is extended, the mounting plate assembly 12 drives the multiple mill disc assemblies 11 to rotate towards the working wall surface; when the push rod 132 is retracted, the multiple mill disc assemblies 11 rotate away from the working wall surface.

[0102] In some embodiments, the mill disc assembly 11 comprises a pressure sensor 116, which is connected with the turnover assembly 13 and the mill disc 111, and is used to detect the pressure between the mill disc 111 and the working wall surface.

[0103] In this way, the pressure sensor 116 is used to feedback the pressure between the mill disc 111 and the working wall surface, so that the turnover assembly 13 can adjust the pressing force and the pressing angle of the mill disc 111 according to the pressure, so that the overall roughening quality of the mill disc 111 on the working wall surface is consistent, and the roughening quality of the working wall surface is improved.

[0104] The pressure sensor 116 can be a strain gauge pressure sensor 116, a piezoelectric pressure sensor 116 or a piezoresistive pressure sensor 116, etc., which is not limited here. The number of pressure sensors 116 can be one, two, three or four, etc.

[0105] When the number of pressure sensors 116 is greater than or equal to two, the multiple sensors are spaced apart on the mill disc 111, or are evenly distributed along the circumferential direction of the mill disc 111. The multiple pressure sensors 116 can obtain the pressure data of different positions of the mill disc 111 in real time, so as to further determine whether the fitting state of the mill disc 111 and the wall surface meets the working requirement.

[0106] The mounting bracket 114 can further comprise a pressure sensor mounting seat for placing the pressure sensor 116, and the pressure sensor mounting seat provides a mounting point for the connecting rod 115, so as to ensure the reliability of the pressure sensor 116 during operation.

[0107] In some embodiments, the body 121 is provided with an avoiding hole 1211 for avoiding the push rod 132 when the mounting plate assembly 12 rotates around the shoulder pin shaft 1321.

[0108] It can be understood that when the mounting plate assembly 12 rotates around the shoulder pin shaft 1321, the push rod 132 will change its position and angle with the movement of the mounting plate assembly 12. The avoiding hole 1211 provides a specific space for the movement of the push rod 132, ensuring that the push rod 132 will not collide or rub with the body 121 of the mounting plate assembly 12 during the movement, so as to ensure that the entire pulling mechanism 10 can run smoothly, avoiding interference between parts to cause movement to be blocked, jammed or even damage the equipment.

[0109] The avoiding hole 1211 is provided on the edge of the body 121 and close to one side of the push rod 132, and the size of the avoiding hole 1211 can be determined according to the position of the push rod 132 in the maximum extension and maximum shortening state, and when the mounting plate assembly 12 rotates around the shoulder pin shaft 1321 to the maximum angle. The shape of the avoiding hole 1211 can be circular, rectangular or semicircular, etc., which is not limited here.

[0110] In the description of the present application, it should be understood that terms such as "first", "second" are only used to distinguish similar objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0111] The pulling mechanism and wall climbing robot provided by the embodiments of the present application are described in detail above. In this paper, specific examples are applied to explain the principles and implementation modes of the present application, and the above description of the embodiments is only used to help understand the present application. At the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description of the present application should not be understood as a limitation.

Claims

1. A roughening mechanism for a wall-climbing robot, characterized in that: The hair pulling mechanism comprises: Grinding disc assembly, including: grinding disc; a first adjusting assembly mounted on the grinding disc, the first adjusting assembly being used to control the vertical movement of the grinding disc; a second adjustment assembly mounted on the grinding disc, the second adjustment assembly being used to control the grinding disc to rotate about a first horizontal direction and a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction, and the first horizontal direction and the second horizontal direction being perpendicular to the vertical direction; A mounting plate assembly connected to the grinding disc assembly; a turning assembly connected to the grinding disc assembly and the mounting plate assembly, the turning assembly being used to drive the grinding disc assembly and the mounting plate assembly to rotate around the first horizontal direction so that the grinding disc approaches or moves away from the working wall; Wherein, the flip assembly includes: A mounting base connected to the walking mechanism of the wall-climbing robot; A push rod is rotatably connected to the mounting seat via a rotating shaft, and is also connected to the mounting plate assembly. The push rod can be telescopically movable along its own axis to drive the mounting plate assembly to rotate about the first horizontal direction; A support member, one end of which is connected to a mounting seat, and the grinding disc assembly is rotatably connected to the other end of the support member; The grinding disc assembly comprises: a mounting frame, mounted on the grinding disc and connected to the second adjustment assembly, wherein a side of the mounting frame facing away from the grinding disc is used for mounting the first adjustment assembly; a connecting rod connected to the mounting frame and rotatably connected to the support member so that the grinding disc can rotate around the axis of the connecting rod, wherein the axis direction of the connecting rod is parallel to the first horizontal direction; The first adjustment component includes: a guide rod, one end of which is connected to a side of the mounting frame facing away from the grinding disc, and the other end of which is connected to the mounting plate assembly; and an elastic member, sleeved on the guide rod along the vertical direction; The second adjustment component includes: a first rotating shaft connected to the grinding disc, wherein the axis direction of the first rotating shaft is parallel to the first horizontal direction; The second rotating shaft is vertically connected to the first rotating shaft, the axial direction of the second rotating shaft is parallel to the second horizontal direction, and the grinding wheel can rotate around the axial direction of the first rotating shaft and the axial direction of the second rotating shaft.

2. The hair pulling mechanism according to claim 1, characterized in that: There are multiple grinding disc assemblies, which are arranged at intervals and are all connected to the mounting plate assembly. The support is rotatably connected to the connecting rod of at least one of the grinding disc assemblies, and the flip assembly is used to drive the multiple grinding disc assemblies to rotate around the first horizontal direction.

3. The hair pulling mechanism according to claim 1, characterized in that: The mounting plate assembly includes a main body and a double-ear piece arranged on the main body. A shoulder pin is provided on the push rod, and the shoulder pin passes through the mounting hole on the double-ear piece. The push rod telescopically moves along its own axis to drive the mounting plate assembly to rotate around the shoulder pin.

4. The hair pulling mechanism according to claim 3, characterized in that: The main body is provided with an avoidance hole, and the avoidance hole is used to avoid the push rod when the mounting plate assembly rotates around the shoulder pin shaft.

5. The napping mechanism according to any one of claims 1 to 4, characterized in that: The grinding disc assembly includes a pressure sensor, which is connected to the turning assembly and the grinding disc. The pressure sensor is used to detect the pressure between the grinding disc and the working wall surface.

6. A wall-climbing robot, characterized in that: include: Traveling mechanism; The hair pulling mechanism according to any one of claims 1 to 5, wherein the flipping assembly of the hair pulling mechanism is connected to the walking mechanism.

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